A modular design of a free-flying robot in a space station cabin

Abstract

A modularly designed free-flying robot in a space station cabin relates to the technical field of space robot design. The overall cubic configuration is adopted, and the core module is arranged at the center position for power supply and drive control of other modules. The main support cover is arranged outside the core module and the other modules are carried in a detachable connection manner. Eight vertex modules are installed at the vertex position and divided into four power modules and four module racks to be expanded. Six side modules are arranged at the center position of the side and divided into visual modules and five reserved expansion spaces. Based on the modular design, the core module provides power and drive control, four power modules are installed at the vertex position to realize full-drive free flight, and the visual module is installed at the side position for real-time picture transmission and video recording, and multiple spaces are reserved for the expansion of other functions. The structure is compact and the layout is reasonable, which is easy to install and maintain.

Description

Technical Field

[0001] The invention relates to the technical field of space robot design, in particular to a modularly designed free-flying robot in a space station cabin. Background Art

[0002] As an important platform for human space exploration, the on-orbit maintenance of spacecraft after it is put into use has always been an important research topic for space agencies of various countries. At present, spacecraft designed for different space missions are different in size, mass, shape, equipment and payload, so the on-orbit maintenance of these spacecraft usually requires targeted design. In addition, for large spacecraft such as space stations and manned spacecraft, the inspection and maintenance of their internal environment is more important because astronauts are active inside them. The cabin free-flying robot is a space robot designed for the internal environment of such large spacecraft. Its characteristics are that it has full driveability inside the spacecraft and can autonomously reach any passable point inside the spacecraft. The cabin free-flying robot is usually small in size and mass, and performs tasks through the sensors and payloads it carries. The cabin free-flying robot mainly inspects the internal environment of the spacecraft through visual inspection. The ability to move freely can assist astronauts in taking pictures and videos, thereby replacing handheld cameras, freeing astronauts' hands, and effectively supplementing the fixed cameras inside the spacecraft.

[0003] However, the free-flying robots currently serving in the International Space Station are limited to visual inspection and filming and recording. They are integrated structures that are difficult to disassemble, maintain, and expand their functions. In the event of failure or damage, it is difficult for astronauts to carry out on-site repairs, and they may even have to be scrapped directly. They are unable to meet the complex and diverse requirements of on-orbit missions, and this brings difficulties to their long-term reliable operation. Summary of the invention

[0004] In order to address the shortcomings of the background technology, the present invention provides a modularly designed free-flying robot in a space station cabin. The robot is based on a modular design similar to a Rubik's Cube configuration, with a core module as the center to provide power and perform drive control. Four power modules are cross-arranged and installed at the vertex positions to achieve full-drive free flight of the robot. A visual module is installed at the side position for real-time image transmission and video recording, and multiple spaces are reserved for the expansion of other functions. The overall structure is compact, the layout is more reasonable, and it is easy to install and replace components.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a modularly designed free-flying robot in a space station cabin, wherein the robot adopts a cubic configuration as a whole, including a core module, a main body support, six side modules and eight vertex modules, wherein the core module is arranged at the center of the cubic configuration for power supply and drive control of the remaining modules, the main body support cover is arranged outside the core module and adopts a detachable connection method to carry the remaining modules, the eight vertex modules are respectively installed at the vertex corners of the cubic configuration, and are divided into four power modules and four module racks to be expanded, wherein each two adjacent power modules of the four power modules are in the cubic configuration. The configuration is arranged at both ends of the diagonal of the plane where the configuration is located, each power module is provided with three propulsion blades and are respectively located in the three plane axes of the top corners of the cube configuration, the four module racks to be expanded are installed at the top corners of the cube configuration except the power module, each module rack to be expanded adopts three arms that are integrally formed and vertically arranged to form a top corner limiting structure, the six side modules are respectively arranged at the center position of the side of the cube configuration, and are divided into a visual module and five reserved expansion spaces, the visual module is used for real-time image transmission and video recording through wireless communication, the five reserved expansion spaces and the four module racks to be expanded are all used for the carrying of additional external modules.

[0006] Furthermore, the core module includes an outer shell, an onboard computer, a controller, a power adapter board and a battery. The outer shell is a cubic hollow frame for housing and installing other components. The battery supplies power to the entire robot through the power adapter board. The onboard computer drives the vision module, four power modules and all additional external modules through the controller.

[0007] Furthermore, the main support includes a core frame and four groups of support connectors. The core frame is a cubic hollow frame used to cover and install the core module. The four groups of support connectors are respectively fixed on the four sides of the core frame. Each group of support connectors is divided into four L-shaped connectors and are arranged at the four corners of the corresponding sides of the core frame.

[0008] Furthermore, the side modules and the vertex module are detachably connected to the main support via screws or clips.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is based on modular design and adopts a Rubik's Cube-like configuration. A core module is arranged at the center position as the power supply and drive control system of the entire robot, and four power modules are cross-arranged and installed at the vertex position. Each power module is provided with propulsion blades at three angles to realize the full-drive free flight of the robot. A visual module is carried at the side position for real-time image transmission and video recording, and module racks to be expanded and reserved expansion space are arranged at the vertex and sides respectively for the expansion of other functions. It has a small size, light weight, a compact overall structure, and a more reasonable layout. Compared with the current integrated structural form, it is easy to install and replace components for maintenance, which reduces the maintenance operation burden of astronauts, and has the characteristics of expandable and upgrade potential, which is conducive to long-term on-orbit missions of large spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is an axonometric diagram of the overall structure of the robot of the present invention;

[0011] Figure 2 It is an axonometric diagram of the core module in the robot of the present invention;

[0012] Figure 3 It is an axonometric view of the main body support of the robot of the present invention;

[0013] Figure 4 is an axonometric diagram of a power module in the robot of the present invention;

[0014] Figure 5 It is an axonometric diagram of a module frame to be expanded in the robot of the present invention.

[0015] In the figure: 1. Core module; 1-1. Outer shell; 1-2. Onboard computer; 1-3. Controller; 1-4. Power adapter board; 1-5. Battery; 2. Main bracket; 2-1. Core frame; 2-2. Bracket connector; 3-a. Power module; 3-b. Module rack to be expanded; 4-a. Visual module; 4-b. Reserved expansion space. DETAILED DESCRIPTION

[0016] The technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] like Figure 1 to Figure 5 As shown, a modularly designed free-flying robot in a space station cabin is used. The robot has an overall cubic configuration, including a core module 1, a main frame 2, six side modules and eight vertex modules.

[0018] Combination Figure 1 , Figure 2 As shown, the core module 1 is arranged at the center of the cubic configuration for power supply and drive control of the other modules. It undertakes the robot's calculation, storage, communication, charging and discharging functions, and is the control core of the robot, including a housing 1-1, an onboard computer 1-2, a controller 1-3, a power adapter board 1-4, and a battery 1-5. The housing 1-1 is a cubic hollow frame for housing and installing the other components, which is assembled with the main frame 2. The battery 1-5 supplies power to the robot as a whole through the power adapter board 1-4. The onboard computer 1-2 drives and controls the visual module 4-a, four power modules 3-a, and all additional external modules through the controller 1-3. That is, the onboard computer 1-2, controller 1-3, visual module 4-a, power module 3-a and all additional external modules are connected to the power adapter board 1-4 and powered by the battery 1-5. At the same time, the power adapter board 1-4 connects the onboard computer 1-2 and controller 1-3 with the visual module 4-a, power module 3-a and additional external modules through its own electrical interface and other connectors, thereby realizing the connection and communication between the core module 1 and the remaining modules. When it is necessary to inspect, debug or replace the module, the electrical separation can be quickly completed by disconnecting the electrical interface and other connectors, and the rapid separation of the module can be completed by further disconnecting the mechanical connection with the main bracket 2.

[0019] Combination Figure 1 , Figure 3 As shown, the function of the main frame 2 is to connect and fix the core module 1 and the remaining modules. The main frame 2 is covered outside the core module 1 and carries the remaining modules in a detachable connection. Specifically, the main frame 2 includes a core frame 2-1 and four groups of bracket connectors 2-2. The core frame 2-1 is a cubic hollow frame for covering and installing the core module 1. The four groups of bracket connectors 2-2 are fixedly arranged on the four sides of the core frame 2-1 respectively. Each group of bracket connectors 2-2 is divided into four L-shaped connectors and is arranged at the four corners of the corresponding side of the core frame 2-1. Among them, the side modules and the vertex modules can be detachably connected to the main frame 2 by screws or clamps, which is convenient for the assembly and replacement of the modules.

[0020] Combination Figure 1 , Figure 4 , Figure 5As shown, the eight vertex modules are respectively installed at the top corners of the cube configuration, and are divided into four power modules 3-a and four module racks 3-b to be expanded. Among them, every two adjacent power modules 3-a of the four power modules 3-a are arranged at both ends of the diagonal of the plane where the cube configuration is located. Each power module 3-a is provided with three propulsion blades and are respectively located on the three plane axes at the top corners of the cube configuration. The full-drive free flight of the robot can be achieved by driving different propulsion blades of different power modules 3-a. The four module racks 3-b to be expanded are installed at the top corners of the cube configuration except the power module 3-a. Each module rack 3-b to be expanded adopts three arms that are integrally formed and vertically arranged to form a top corner limiting structure, which can be used for subsequent expansion functions.

[0021] Combination Figure 1 As shown, the six side modules are respectively arranged at the center of the side of the cube configuration, and are divided into a visual module 4-a and five reserved expansion spaces 4-b. The visual module 4-a is used for real-time image transmission and video recording by wireless communication, which is a conventional means already possessed by the existing free-flying robot in the cabin, and the five reserved expansion spaces 4-b are also used for subsequent expansion functions.

[0022] In summary, the present invention designs the various parts of the robot in a modular form to make it structurally independent, and reserves space for the installation of subsequent expansion modules. The modules are connected and fixed by mechanical structures, can be quickly disassembled and assembled, and are easy to debug and maintain, thereby improving the robot's continuous operation capability and iterative upgrade potential.

[0023] During the service period of large spacecraft in orbit, the robot can realize the following application scenarios:

[0024] 1. As a mobile camera:

[0025] a) Replace astronauts in daily space station inspection tasks, patrol the various modules in the space station, obtain space station environmental information through cameras and other sensors, reduce the burden on astronauts, and save their working time;

[0026] b) Assisting in shooting tasks, helping astronauts in shooting and videotaping tasks, replacing handheld cameras and freeing up astronauts’ hands.

[0027] 2. As a microgravity experimental platform:

[0028] a) A good carrier for scientific research. The robot is fully drivable and can verify scientific research in a microgravity environment, such as trajectory planning and obstacle avoidance algorithms;

[0029] b) Payload carrying platform: The robot has the ability to replace and add modules. Researchers can design payloads based on the interface and install them on the robot for scientific research.

[0030] 3. Intelligent human-computer interaction:

[0031] a) Human-machine collaboration: After the robot is equipped with artificial intelligence and the required functional payload, it can be used as an intelligent robot to assist astronauts in performing tasks. For example, if it is equipped with a voice module, it can provide voice prompts to astronauts on the task process;

[0032] b) Astronaut health management: The system can carry corresponding medical monitoring modules to monitor the astronauts' physiological indicators, and infer or transmit them back to the ground for processing through preset programs, so as to strengthen the understanding of the astronauts' physiological indicators and make timely response measures.

[0033] 4. Active interaction:

[0034] By installing a robotic arm or other special end effector, the robot can acquire the ability to actively interact with the space station environment and perform operations such as on-orbit assembly, object handling, and operating switches, greatly enhancing human-machine collaboration capabilities.

[0035] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other forms of assembly without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0036] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A modularly designed free-flying robot in a space station cabin, characterized by: The robot adopts a cubic configuration as a whole, comprising a core module (1), a main frame (2), six side modules and eight vertex modules. The core module (1) is arranged at the center of the cubic configuration for power supply and drive control of the remaining modules. The main frame (2) is covered outside the core module (1) and carries the remaining modules in a detachable connection manner. The eight vertex modules are respectively installed at the top corners of the cubic configuration and are divided into four power modules (3-a) and four module frames to be expanded (3-b). Among them, each two adjacent power modules (3-a) of the four power modules (3-a) are arranged at the two ends of the diagonal of the plane where the cubic configuration is located, and each power module (3-a) ) is provided with three propulsion blades and respectively located in three plane axes at the top corner positions of the cube configuration; the four module racks to be expanded (3-b) are installed at the top corner positions of the cube configuration except the power module (3-a); each module rack to be expanded (3-b) adopts three arms that are integrally formed and vertically arranged to form a top corner limiting structure; the six side modules are respectively arranged at the center positions of the sides of the cube configuration, and are divided into a visual module (4-a) and five reserved expansion spaces (4-b); the visual module (4-a) is used for real-time image transmission and video recording by wireless communication; the five reserved expansion spaces (4-b) and the four module racks to be expanded (3-b) are used for carrying additional external modules.

2. A modularly designed free-flying robot for a space station cabin according to claim 1, characterized in that: The core module (1) comprises a housing (1-1), an onboard computer (1-2), a controller (1-3), a power adapter plate (1-4) and a battery (1-5); the housing (1-1) is a cubic hollow frame for housing and installing other components; the battery (1-5) supplies power to the entire robot through the power adapter plate (1-4); the onboard computer (1-2) drives and controls the visual module (4-a), four power modules (3-a) and all additional external modules through the controller (1-3).

3. The modularly designed free-flying robot for a space station cabin according to claim 1, characterized in that: The main frame (2) comprises a core frame (2-1) and four groups of support connectors (2-2); the core frame (2-1) is a cubic hollow frame for housing and installing the core module (1); the four groups of support connectors (2-2) are respectively fixedly arranged on four side surfaces of the core frame (2-1); each group of support connectors (2-2) is divided into four L-shaped connectors and arranged at the four corners of the corresponding side surfaces of the core frame (2-1).

4. The modularly designed free-flying robot for a space station cabin according to claim 1, characterized in that: The side modules and the top module are both detachably connected to the main frame (2) via screws or clamping parts.

Images